Autonomous mobile device for loading reels in manufacturing facilities

Abstract

The invention relates to an autonomous mobile device (12) for loading spools (18) in a manufacturing facility (10), comprising a first autonomous mobile carriage (30) on which a robotic arm (32) is mounted, capable of moving at least one spool. The first autonomously moving carriage further comprises a control unit, an autonomously moving device controlled by the control unit, and an electrical energy storage device. Electrical energy is supplied to the autonomous mobile device and the robotic arm through the electrical energy storage device of the first carriage (30). The first autonomously moving carriage (30) further comprises means (40) for recharging its electrical energy storage device by using contacts of mechanical friction or using contactless electromagnetic induction.

Description

Technical Field

[0001] The present invention relates to the automated loading of wire spools in a manufacturing facility.

[0002] More specifically, the present invention relates to the automated loading of spools of thread onto a feed rack for feeding a weaving loom. Background Art

[0003] Textile reinforcements are products which may, for example, form part of a tire.

[0004] To make these fabric reinforcements, manufacturers use looms that are fed by a large number of spools of wire. Thus, dozens of spools to more than one hundred spools can feed a single loom.

[0005] To feed the loom, the reels are arranged on a long frame comprising hundreds of positions for receiving the reels.

[0006] Once the spool is empty, it must be replaced with a full spool.

[0007] According to a first solution of the prior art, the operator is tasked with manually replacing the empty bobbin with a full one. This solution is not ideal, since these manual loading and unloading operations increase the cycle time of the loom and can be very difficult for the operator when the full bobbin weighs tens of kilograms.

[0008] The automatic solution of prior art is described in document EP 3127660. In this document EP 3127660, a robot arm is used to unload the empty reels on the frame and replace them with full reels. Each robot arm is mounted on a carriage, and several full reels and containers intended to receive the empty reels are also housed on the carriage. The first shortcoming is that each carriage is guided on a track, which may hinder the operator who must approach the frame. Specifically, although the loading and unloading of the reels on the frame is automated, the operator still needs to approach the frame to connect the end of a silk thread to the beginning of another silk thread. Another shortcoming is that a track / carriage / robot arm assembly needs to be provided for each passage between the frames, which requires a large amount of investment.

[0009] Document CN113291929 proposes a solution that has less impact on the accessibility of the racks and allows movement between different channels located between different racks. According to document CN113291929, the robotic arm and its loaded fully wound reels are placed on an autonomous mobile carriage. One disadvantage of the solution proposed in document CN113291929 is that the power and speed of the robotic arm must be limited, thereby limiting its ability to quickly lift heavy reels, so as not to affect the autonomy of the autonomous mobile carriage too much. Specifically, in the solution proposed in document CN113291929, only the electric battery on the autonomous mobile carriage can power both the robotic arm and the autonomous mobile carriage at the same time.

[0010] The object of the present invention is to overcome the disadvantages of the prior art. Summary of the invention

[0011] To this end, a subject of the present invention is an autonomous mobile device for loading winding shafts in a manufacturing facility, the autonomous mobile device comprising a first autonomous mobile bracket on which is mounted a robotic arm for moving at least one winding shaft, the first autonomous mobile bracket also comprising a control unit, an autonomous mobile device controlled by the control unit, and an electric energy storage device, through which the electric energy storage device of the first bracket supplies electric energy to the autonomous mobile device and the robotic arm of the first autonomous mobile bracket.

[0012] According to the invention, the first autonomous mobile carriage also comprises means for recharging its electrical energy storage device by mechanical friction contacts or by contactless electromagnetic induction.

[0013] Thanks to the means for recharging by mechanical friction contacts or by contactless electromagnetic induction, the electric energy storage device of the first autonomous mobile carriage can be recharged with electric energy while the first carriage is in use. In particular, the electric energy storage device of the first autonomous mobile carriage can be recharged with electric energy during the movement of the winding spool by the mechanical arm of the first carriage.

[0014] Advantageously, the means of recharging by mechanical friction contacts or by contactless electromagnetic induction may also allow the electrical energy storage device of the first carriage to be recharged with electrical energy during the movement of this first carriage.

[0015] Thanks to the means of recharging by mechanical friction contacts or by contactless electromagnetic induction, it is possible to equip the first autonomous mobile carriage with a fast and powerful robotic arm without affecting its autonomy.

[0016] For example, the robotic arm of the first autonomous mobile carriage is an arm with 6 degrees of movement capability, and / or is capable of moving a load weighing up to 40 kg, and / or is capable of moving a load of 40 kg at a speed of up to 4 m / s.

[0017] Advantageously, the autonomous mobile device comprises a second autonomous mobile bracket on which a winding shaft supply rack is mounted, the second autonomous mobile bracket further comprising a control unit, an autonomous mobile device controlled by the control unit, and an energy storage device, through which the energy storage device of the second bracket supplies electrical energy to the autonomous mobile device of the second autonomous mobile bracket.

[0018] Preferably, the second autonomous mobile carriage further comprises means for recharging its electrical energy storage device by mechanical friction contacts or by contactless electromagnetic induction.Thus, the electrical energy storage device of the second autonomous mobile carriage can be recharged with electrical energy while the second carriage is in use.

[0019] More generally, another subject of the invention is a manufacturing facility comprising at least one feeding rack for feeding at least one machine of the manufacturing facility and at least one autonomous mobile device as described above.

[0020] According to the invention, the means for recharging the first carriage by mechanical friction contacts comprises an arm electrically connected to a power supply rail arranged in a manufacturing facility. The manufacturing facility comprises at least one channel, on both sides of which there are feeder racks for feeding at least one machine of the manufacturing facility, and in each channel of the facility at least one power supply rail is fixed to a feeder rack.

[0021] For example, the manufacturing facility comprises at least one loom, and the feeder rack may receive bobbins that feed threads to the loom to manufacture textile products from these threads.

[0022] For example, a fabric product manufactured by a weaving machine is used to manufacture a rubber product reinforced by the fabric product.

[0023] For example, reinforced rubber products are used to make pneumatic or airless tires, tracks or conveyor belts. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features and advantages of the present invention will become apparent from the following description. This description is given by way of non-limiting example with reference to the accompanying drawings, in which:

[0025] Figure 1 A top view of a part of a manufacturing facility according to the invention and an autonomous mobile device for loading reels,

[0026] Figure 2 A side view of a part of a manufacturing facility according to the invention and an autonomous mobile device for loading reels,

[0027] Figure 3 is a perspective view of a first autonomous mobile bracket of an autonomous mobile device for loading a wire reel according to the present invention,

[0028] Figure 4 is a side view of a first autonomous mobile bracket of an autonomous mobile device for loading a wire reel according to the present invention,

[0029] Figure 5 A schematic diagram showing the relationship between the various components of the first autonomous mobile bracket of the autonomous mobile device for loading a winding reel according to the present invention,

[0030] Figure 6 is a perspective view of a second autonomous mobile bracket of an autonomous mobile device for loading a wire reel according to the present invention,

[0031] Figure 7 The figure is a schematic diagram showing the relationship between the various components of the second autonomous mobile bracket of the autonomous mobile device for loading a wire reel according to the present invention. DETAILED DESCRIPTION

[0032] The present invention relates to the automated loading and unloading of spools of wire in a manufacturing facility.

[0033] facility

[0034] Figure 1 and Figure 2 A portion of a manufacturing facility 10 is shown, in which an autonomous mobile device 12 for loading reels according to the invention can be used.

[0035] For example, the manufacturing facility 10 includes at least one loom 14 and at least one feeder rack 16 that can receive a bobbin 18 for feeding threads 20 to the loom to make fabric products from the threads. For example, the threads 20 can be made of nylon or aramid.

[0036] The spool 18 with the wire 20 may weigh up to 12 kg.

[0037] For example, the fabric product manufactured by the loom 14 is used to manufacture a rubber product reinforced by the fabric product. For example, the reinforced rubber product is used to manufacture pneumatic tires or airless tires, tracks or conveyor belts.

[0038] like Figure 1 and Figure 2 As shown, the manufacturing facility comprises at least one passage 22, on both sides of which are provided feeding racks 16 for at least one machine 14 (eg a weaving machine) of the manufacturing facility.

[0039] Autonomous mobile equipment for loading reels

[0040] In order to automatically load and unload the reels, the manufacturing facility comprises at least one autonomous mobile device 12. The autonomous mobile device 12 moves autonomously in the manufacturing facility. More specifically, the autonomous mobile device 12 moves autonomously in a channel 22, and a feeder rack 16 is provided on both sides of the channel 22.

[0041] Each rack 16 includes a plurality of spool receiving devices 24. The spool receiving device 24 includes at least one spindle 26 on which the spool 18 can be placed. For example, the spool receiving device 24 includes a bracket 28, which includes a plurality of spool receiving spindles 26. Preferably, the spool receiving spindles 26 are oriented toward the center of the channel 22 to facilitate automatic loading and unloading of the spools by the autonomous mobile device 12 for loading the spools.

[0042] First bracket

[0043] According to the present invention and Figure 3 and Figure 4 As shown, the autonomous mobile device 12 includes a first autonomous mobile bracket 30 , on which a mechanical arm 32 for moving at least one winding spool 18 is mounted.

[0044] like Figure 5 As schematically shown, the first autonomous mobile bracket 30 further includes a control unit 34 , an autonomous mobile device 36 controlled by the control unit, and an electric energy storage device 38 .

[0045] The autonomous moving device 36 and the robot arm 32 of the first autonomous moving carriage 30 are supplied with electric energy through the electric energy storage device 38 of the first carriage 30 .

[0046] For example, the robot arm 32 is controlled by the control unit 34 , and the control unit 34 is supplied with electric energy, for example, through the electric energy storage device 38 of the first bracket 30 .

[0047] For example, the robot arm 32 of the first bracket 30 is an arm with a 6-degree movement capability. Thus, the robot arm 32 can approach a large number of reel receiving devices 24 from the same position of the channel 22. More specifically, for example, the robot arm 32 comprises: a base 42, which is fixed to the first bracket 30; a base 44, which is mounted to be rotatable relative to the base 42 around a first movement axis A1; a lower arm 46, which is mounted to be rotatable relative to the base 44 around a second movement axis A2; an intermediate arm 48, which is mounted to be rotatable relative to the lower arm 46 around a third movement axis A3; an upper arm 50, which is mounted to be rotatable relative to the intermediate arm 48 around a fourth movement axis A4, and a gripping tool 52, for example for gripping a reel, which is mounted to be rotatable relative to the upper arm 50 around two mutually perpendicular movement axes A5, A6.

[0048] Preferably, the robotic arm 32 of the first autonomous mobile carriage 30 is capable of moving a load weighing up to 40 kg (eg a wire reel), and / or is capable of moving a 40 kg load at a speed of up to 4 m / s.

[0049] Since the mechanical arm 32 of the first autonomous mobile carriage 30 is supplied with electric energy by the electric energy storage device 38 of this first carriage 30, the mechanical arm is moved using electric motors. In more detail, different electric motors are used to rotate the arms 46, 48, 50 and the gripping tool 52 around their movement axes.

[0050] Advantageously, the base 42 of the robot arm is elevated above the first autonomous mobile carriage 30 by a non-zero height H. Thus, the robot arm 32 has a greater height working range.

[0051] The autonomous moving device 36 of the first autonomous moving carriage 30 allows the first carriage to autonomously move on the floor S of the manufacturing facility. In particular, the autonomous moving device 36 allows the first autonomous moving carriage 30 to autonomously move in the passage 22 of the manufacturing facility.

[0052] For example, these autonomous mobile devices 36 include a plurality of wheels 54 , at least one of which is driven in rotation by an electric motor supplied with electrical energy by the electrical energy storage device 38 of the first carriage and controlled by the control unit 34 of the first carriage.

[0053] Meanwhile, the autonomous moving device 36 includes at least one sensor, enabling the control unit 34 to analyze the environment of the first carriage, thereby enabling movement of the carriage in the environment such as the manufacturing facility 10, for example.

[0054] The control unit 34 of the first bracket 30 includes one or more processors and various memories.

[0055] For example, the electrical energy storage device 38 of the first carriage 30 takes the form of one or more batteries. These batteries are, for example, lithium type batteries.

[0056] Means for recharging the first cradle

[0057] According to the invention, the first autonomous mobile carriage 30 also comprises means 40 for recharging its electrical energy storage device 38 by mechanical friction contacts or by contactless electromagnetic induction.

[0058] For example, these recharging devices 40 allow the electrical energy storage device 38 to be recharged with electrical energy during use of the robot arm 32 and / or the first carriage 30 .

[0059] For example, Figure 2 As shown, the device 40 for recharging the first carriage 30 by mechanical friction contact comprises an arm 56 for electrical connection with a power supply rail 54 provided in the manufacturing facility 10. For example, in each aisle of the facility, at least one power supply rail 54 is fixed to the feeder rack 16. The power supply rail 54 can extend for several meters, for example, over the entire floor length of the feeder rack 16, i.e., over the entire length of the aisle 22.

[0060] In case the recharging device 40 operates contactlessly by electromagnetic induction, the first electromagnetic induction device is for example integrated into the floor S of the facility, in particular the passage 22, and the second electromagnetic induction device is for example integrated into the first bracket 30. The electromagnetic induction device comprises for example one or more induction coils.

[0061] Second bracket

[0062] According to the present invention and Figure 1 and Figure 6 As shown, the autonomous mobile device 12 may further include a second autonomous mobile bracket 60, on which a frame 62 for supplying the winding spool 18 is mounted. The second autonomous mobile bracket 60 may supply the full winding spool 18 to the mechanical arm 32 of the first bracket 30.

[0063] like Figure 7 Schematically shown, the second autonomous mobile bracket 60 further includes a control unit 64, an autonomous mobile device 66 controlled by the control unit, and an electric energy storage device 68. Electric energy is supplied to the autonomous mobile device 66 through the electric energy storage device 68 of the second bracket 60. For example, electric energy is supplied to the control unit 64 through the electric energy storage device 68 of the second bracket 60.

[0064] According to the invention, the second autonomous mobile carriage 60 also comprises means 70 for recharging its electrical energy storage device 68 by mechanical friction contacts or by contactless electromagnetic induction.

[0065] The autonomous moving device 66 of the second autonomous moving carriage 60 allows the second carriage to autonomously move on the floor S of the manufacturing facility. In particular, the autonomous moving device 66 allows the second autonomous moving carriage 60 to autonomously move in the passage 22 of the manufacturing facility.

[0066] For example, these autonomous mobile devices 66 include a plurality of wheels (in Figure 6 ), at least one of these wheels is driven in rotation by an electric motor supplied with electrical energy by an energy storage device 68 of the second carriage and controlled by a control unit 64 of the second carriage.

[0067] Meanwhile, the autonomous moving device 66 includes at least one sensor, enabling the control unit 64 to analyze the environment of the second carriage 60 , thereby achieving movement of the second carriage 60 in the environment such as the manufacturing facility 10 , for example.

[0068] The control unit 64 of the second bracket 60 includes one or more processors and various memories.

[0069] For example, the electrical energy storage device 68 of the second carriage 60 takes the form of one or more batteries. These batteries are, for example, lithium type batteries.

[0070] In order to allow the electrical energy storage device 68 to be recharged with electrical energy during use, the second cradle 60 may include means 70 for recharging by mechanical friction contacts or by contactless electromagnetic induction.

[0071] For example, the recharging device 70 of the second carriage 60 by mechanical friction contact comprises an arm 72 which is electrically connected to a power supply track in the manufacturing facility 10 , for example to the power supply track 54 for powering the recharging device 40 of the first carriage 30 .

[0072] Alternatively, the recharging device 70 of the second bracket 60 can be operated contactlessly by electromagnetic induction. In this case, the first electromagnetic induction device is integrated into the floor S of the facility, in particular the passage 22, for example, and the second electromagnetic induction device is integrated into the second bracket 60, for example. The electromagnetic induction device includes, for example, one or more induction coils.

[0073] For example, the rack 62 for supplying the second carriage 60 with the spools 18 takes the form of a plate 74 having holes 76 that allow nesting with the ends of the spools 18. Advantageously, these perforated plates 74 can be manipulated by the robotic arm 32 of the first carriage 30. Ideally, a plurality of perforated plates 74 can be stored on the second carriage 60 before being used for spool storage.

[0074] Advantageously, the first bracket 30 or the second bracket 60 comprises a container 78 for receiving an empty reel 18. Preferably, the first bracket 30 comprises such a container 78 for receiving an empty reel.

[0075] method

[0076] The present invention also relates to a method of loading a spool of wire using an autonomous mobile device 12 in a manufacturing facility 10 .

[0077] According to the reel loading method, when the robot arm 32 loads the reel 18 onto the feed rack 16 of the machine 14 or unloads the reel 18 from the feed rack 16 of the machine 14, the energy storage device 38 of the first bracket 30 is recharged with electrical energy by means 40, which recharges by mechanical friction contacts or by contactless electromagnetic induction. Advantageously, the method can also be arranged so that: when the robot arm 32 removes the reel 18 from the supply rack 62 of the second bracket 60, the energy storage device 68 of the second bracket 60 is recharged with electrical energy by means 70, which recharges by mechanical friction contacts or by contactless electromagnetic induction.

[0078] Also according to the reel loading method, when the first carriage 30 moves in the manufacturing facility, the energy storage device 38 of the first carriage 30 is recharged with electrical energy by means 40, which recharges by mechanical friction contacts or by contactless electromagnetic induction. Advantageously, the method can also be arranged so that when the second carriage 60 moves in the manufacturing facility, the energy storage device 68 of the second carriage 60 is recharged with electrical energy by means 70, which recharges by mechanical friction contacts or by contactless electromagnetic induction.

Claims

1. An autonomous mobile device (12) for loading winding spools (18) in a manufacturing facility (10), the autonomous mobile device comprising a first autonomous mobile bracket (30), on which a mechanical arm (32) for moving at least one winding spool is installed, the first autonomous mobile bracket also comprising a control unit (34), an autonomous mobile device (36) controlled by the control unit, and an energy storage device (38), the energy storage device (38) of the first bracket (30) supplying electric energy to the autonomous mobile device (36) and the mechanical arm (32) of the first autonomous mobile bracket, the autonomous mobile device (12) being characterized in that the first autonomous mobile bracket (30) also comprises a device (40) for recharging its energy storage device (38) by mechanical friction contacts or by contactless electromagnetic induction.

2. The autonomous mobile device (12) according to claim 1, wherein: The autonomous mobile device comprises a second autonomous mobile bracket (60), on which a winding shaft supply rack (62) is installed. The second autonomous mobile bracket (60) also comprises a control unit, an autonomous mobile device controlled by the control unit, and an electric energy storage device, through which the electric energy storage device of the second bracket supplies electric energy to the autonomous mobile device of the second autonomous mobile bracket.

3. The autonomous mobile device (12) according to claim 2, wherein: The second autonomous mobile carriage also comprises means (70) for recharging its electrical energy storage device by mechanical friction contacts or by contactless electromagnetic induction.

4. A manufacturing facility (10) comprising at least one feed rack (16) for feeding at least one machine (14) of the manufacturing facility, the manufacturing facility comprising at least one autonomous mobile device (12) according to any one of claims 1 to 3, and the device (40) for recharging the first bracket (30) via mechanical friction contacts comprises an arm (56) which is electrically connected to a power supply track (54) arranged in the manufacturing facility (10).

5. The manufacturing facility (10) according to claim 4, wherein: The manufacturing facility comprises at least one channel (22), on both sides of which are provided feeding racks (16) for feeding at least one machine of the manufacturing facility, and in each channel (22) of the facility, at least one power supply rail (54) is fixed to the feeding rack (16).

6. A manufacturing facility (10) according to any one of claims 4 and 5, wherein: The manufacturing facility comprises at least one loom (14) having a feeder frame (16) capable of receiving bobbins (18) which feed threads (20) to the loom for manufacturing a textile product from these threads.

7. The manufacturing facility (10) according to claim 6, wherein: The fabric product manufactured by the weaving machine (14) is used to manufacture a rubber product reinforced by the fabric product.

8. The manufacturing facility (10) according to claim 7, wherein: Reinforced rubber products are used to make pneumatic or airless tires, tracks or conveyor belts.

9. A method for loading a winding spool (18) in a manufacturing facility (10) according to any one of claims 4 to 8, in which method, when a robot arm (32) loads the winding spool (18) onto a feed rack (16) of a machine (14) or unloads the winding spool (18) from a feed rack (16) of a machine (14), an energy storage device (38) of a first bracket (30) is recharged with electrical energy by a device (40), and the device (40) is recharged by mechanical friction contacts or by contactless electromagnetic induction.

10. A method for loading a winding reel according to claim 9, in which method, when the first bracket (30) moves in the manufacturing facility, the energy storage device (38) of the first bracket (30) is recharged with electrical energy through a device (40), and the device (40) is recharged through mechanical friction contacts or through contactless electromagnetic induction.

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